Related papers: Online Flocking Control of UAVs with Mean-Field Ap…
The rapid development of Unmanned aerial vehicles (UAVs) technology has spawned a wide variety of applications, such as emergency communications, regional surveillance, and disaster relief. Due to their limited battery capacity and…
The collaboration of unmanned aerial vehicles (UAVs) has become a popular research topic for its practicability in multiple scenarios. The collaboration of multiple UAVs, which is also known as aerial swarm is a highly complex system, which…
Understanding self-organization in natural collectives such as bird flocks inspires swarm robotics, yet most flocking models remain reactive, overlooking anticipatory cues that enhance coordination. Motivated by avian postural and wingbeat…
Currently, the general aim of flocking and formation control laws for multi-agent systems is to form and maintain a rigid configuration, such as, the alpha-lattices in flocking control methods, where the desired distance between each pair…
In this paper, we develop a distributed mechanism for spectrum sharing among a network of unmanned aerial vehicles (UAV) and licensed terrestrial networks. This method can provide a practical solution for situations where the UAV network…
Aerial operation in turbulent environments is a challenging problem due to the chaotic behavior of the flow. This problem is made even more complex when a team of aerial robots is trying to achieve coordinated motion in turbulent wind…
Optimal transport (OT) is a framework that can guide the design of efficient resource allocation strategies in a network of multiple sources and targets. This paper applies discrete OT to a swarm of UAVs in a novel way to achieve…
This study proposes a distributed algorithm that makes agents' adaptive grouping entrap multiple targets via automatic decision making, smooth flocking, and well-distributed entrapping. Agents make their own decisions about which targets to…
Building a distributed spatial awareness within a swarm of locally sensing and communicating robots enables new swarm algorithms. We use local observations by robots of each other and Gaussian Belief Propagation message passing combined…
Unmanned Aerial Vehicles (UAVs) are now becoming increasingly accessible to amateur and com-mercial users alike. Several types of airspace structures are proposed in recent research, which include several structured free flight concepts. In…
This paper presents a novel solution for UAV control in cooperative multi-robot systems, which can be used in various scenarios such as leader-following, landing on a moving base, or specific relative motion with a target. Unlike classical…
We consider the problem of controlling the group behavior of a large number of dynamic systems that are constantly interacting with each other. These systems are assumed to have identical dynamics (e.g., birds flock, robot swarm) and their…
For robots to be a part of our daily life, they need to be able to navigate among crowds not only safely but also in a socially compliant fashion. This is a challenging problem because humans tend to navigate by implicitly cooperating with…
Fleets of networked autonomous vehicles (AVs) collect terabytes of sensory data, which is often transmitted to central servers (the ''cloud'') for training machine learning (ML) models. Ideally, these fleets should upload all their data,…
The implementation of collective motion, traditionally, disregard the limited sensing capabilities of an individual, to instead assuming an omniscient perception of the environment. This study implements a visual flocking model in a…
This study proposes an event-based reconfiguration control to navigate a robot swarm through challenging environments with narrow passages such as valleys, tunnels, and corridors. The robot swarm is modeled as an undirected graph, where…
Robot swarms offer the potential to bring several advantages to the real-world applications but deploying them presents challenges in ensuring feasibility across diverse environments. Assessing the feasibility of new tasks for swarms is…
The survivable network concept refers to contexts where the wireless communication between ground agents needs to be maintained as much as possible at all times, regardless of any adverse conditions that may arise. In this paper we propose…
In the event of natural or man-made disasters in an urban environment, such as fires, floods, and earthquakes, a swarm of unmanned aerial vehicles (UAVs) can rapidly sweep and provide coverage to monitor the area of interest and locate…
Computational models of collective behavior in birds has allowed us to infer interaction rules directly from experimental data. Using a generic form of these rules we explore the collective behavior and emergent dynamics of a simulated…